A Wearable Visually Impaired Assistive System Based on Semantic Vision SLAM for Grasping Operation

Because of the absence of visual perception, visually impaired individuals encounter various difficulties in their daily lives. This paper proposes a visual aid system designed specifically for visually impaired individuals, aiming to assist and guide them in grasping target objects within a tabletop environment. The system employs a visual perception module that incorporates a semantic visual SLAM algorithm, achieved through the fusion of ORB-SLAM2 and YOLO V5s, enabling the construction of a semantic map of the environment. In the human-machine cooperation module, a depth camera is integrated into a wearable device worn on the hand, while a vibration array feedback device conveys directional information of the target to visually impaired individuals for tactile interaction. To enhance the system's versatility, a Dobot Magician manipulator is also employed to aid visually impaired individuals in grasping tasks. The performance of the semantic visual SLAM algorithm in terms of localization and semantic mapping was thoroughly tested. Additionally, several experiments were conducted to simulate visually impaired individuals' interactions in grasping target objects, effectively verifying the feasibility and effectiveness of the proposed system. Overall, this system demonstrates its capability to assist and guide visually impaired individuals in perceiving and acquiring target objects.